Fixed imports in CameraFragment

Signed-off-by: Ricky Barrette <rickbarrette@gmail.com>

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "ioiolib"]
+	path = ioiolib
+	url = git://rickbarrette.org/ioiolib

IOIOTruck/.classpath

@@ -4,6 +4,5 @@
 	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
-	<classpathentry kind="lib" path="/home/ricky/App/android-sdk-linux_86/extras/android-support-v4-r6-googlemaps.jar"/>
 	<classpathentry kind="output" path="bin/classes"/>
 </classpath>

IOIOTruck/assets/exceptionhandler.properties

@@ -13,7 +13,7 @@
 # get is the path to your json retrieval script
 # app is the redmine project name
 # tracker is the redmine tracker
-server = http://rickbarrette.dyndns.org:8080/redmine/exceptionhandler
+server = http://rickbarrette.dyndns.org:8888
 app = IOIO Truck
 tracker = Development Bug
 

IOIOTruck/project.properties

@@ -8,8 +8,7 @@
 # project structure.
 
 # Project target.
-target=Google Inc.:Google APIs:15
+target=Google Inc.:Google APIs:17
+android.library.reference.1=../../exception_handler_library/ExceptionHandlerLib
+android.library.reference.2=../ioiolib/IOIOLib
 android.library.reference.3=../../location_library/LocationLib
-android.library.reference.1=../../ioiolib/IOIOLib
-android.library.reference.2=../../exception_handler_library/ExceptionHandlerLib
-android.library.reference.4=../../../workspace/Joystick

IOIOTruck/res/layout/dualjoystick.xml

@@ -0,0 +1,37 @@
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+	android:orientation="vertical" android:layout_width="fill_parent"
+	android:layout_height="fill_parent">
+
+	<com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
+		android:id="@+id/dualjoystickView" android:layout_gravity="center_horizontal"
+		android:layout_marginTop="5dip" android:layout_width="fill_parent"
+		android:layout_height="175dip" />
+
+	<TableLayout android:layout_width="wrap_content"
+		android:layout_height="wrap_content" android:layout_gravity="center_horizontal"
+		android:layout_marginTop="10dip">
+		<TableRow>
+			<TextView android:text="X" android:layout_width="50dip"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewX1"
+				android:layout_width="150dip" android:layout_height="wrap_content"></TextView>
+
+			<TextView android:text="X" android:layout_width="50dip"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewX2"
+				android:layout_width="100dip" android:layout_height="wrap_content"></TextView>
+		</TableRow>
+		<TableRow>
+			<TextView android:text="Y" android:layout_width="wrap_content"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewY1"
+				android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
+
+			<TextView android:text="Y" android:layout_width="wrap_content"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewY2"
+				android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
+		</TableRow>
+	</TableLayout>
+
+</LinearLayout>

IOIOTruck/res/layout/joystick.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+	android:orientation="vertical" android:layout_width="fill_parent"
+	android:layout_height="fill_parent">
+
+	<com.MobileAnarchy.Android.Widgets.Joystick.JoystickView
+		android:id="@+id/joystickView" android:layout_gravity="center_horizontal"
+		android:layout_marginTop="20dip" android:layout_width="175dip"
+		android:layout_height="175dip" />
+
+	<TableLayout android:layout_width="wrap_content"
+		android:layout_height="wrap_content" android:layout_gravity="center_horizontal"
+		android:layout_marginTop="10dip">
+		<TableRow>
+			<TextView android:text="X" android:layout_width="50dip"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewX"
+				android:layout_width="100dip" android:layout_height="wrap_content"></TextView>
+		</TableRow>
+		<TableRow>
+			<TextView android:text="Y" android:layout_width="wrap_content"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewY"
+				android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
+		</TableRow>
+	</TableLayout>
+
+</LinearLayout>

IOIOTruck/res/values/attr.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+
+	<declare-styleable name="DockPanel">
+		<attr name="handleButtonDrawableId" format="reference" />
+		<attr name="contentLayoutId" format="reference" />
+		<attr name="dockPosition" format="enum" />
+		<attr name="isOpen" format="boolean" />
+		<attr name="animationDuration" format="integer" />
+	</declare-styleable>
+
+	<declare-styleable name="ThresholdEditText">
+		<attr name="threshold" format="integer" />
+		<attr name="disableThresholdOnEmptyInput" format="boolean" />
+	</declare-styleable>
+
+</resources>

IOIOTruck/res/values/dimen.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+	<!--
+		Copyright (C) 2009 The Android Open Source Project Licensed under the
+		Apache License, Version 2.0 (the "License"); you may not use this file
+		except in compliance with the License. You may obtain a copy of the
+		License at http://www.apache.org/licenses/LICENSE-2.0 Unless required
+		by applicable law or agreed to in writing, software distributed under
+		the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+		CONDITIONS OF ANY KIND, either express or implied. See the License for
+		the specific language governing permissions and limitations under the
+		License.
+	-->
+
+<resources>
+	<!-- height of a normal list item in edit playlist mode -->
+	<dimen name="normal_height">66dip</dimen>
+	<!-- height of an expanded list item in edit playlist mode -->
+	<dimen name="expanded_height">132dip</dimen>
+</resources> 

IOIOTruck/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java

@@ -0,0 +1,156 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.LinearLayout;
+
+public class DualJoystickView extends LinearLayout {
+	@SuppressWarnings("unused")
+	private static final String TAG = DualJoystickView.class.getSimpleName();
+
+	private final boolean D = false;
+	private Paint dbgPaint1;
+
+	private JoystickView stickL;
+	private JoystickView stickR;
+
+	private View pad;
+
+	public DualJoystickView(Context context) {
+		super(context);
+		stickL = new JoystickView(context);
+		stickR = new JoystickView(context);
+		initDualJoystickView();
+	}
+
+	public DualJoystickView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		stickL = new JoystickView(context, attrs);
+		stickR = new JoystickView(context, attrs);
+		initDualJoystickView();
+	}
+
+	private void initDualJoystickView() {
+		setOrientation(LinearLayout.HORIZONTAL);
+
+		if (D) {
+			dbgPaint1 = new Paint(Paint.ANTI_ALIAS_FLAG);
+			dbgPaint1.setColor(Color.CYAN);
+			dbgPaint1.setStrokeWidth(1);
+			dbgPaint1.setStyle(Paint.Style.STROKE);
+		}
+
+		pad = new View(getContext());
+	}
+
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		super.onMeasure(widthMeasureSpec, heightMeasureSpec);
+		removeView(stickL);
+		removeView(stickR);
+
+		float padW = getMeasuredWidth() - (getMeasuredHeight() * 2);
+		int joyWidth = (int) ((getMeasuredWidth() - padW) / 2);
+		LayoutParams joyLParams = new LayoutParams(joyWidth,
+				getMeasuredHeight());
+
+		stickL.setLayoutParams(joyLParams);
+		stickR.setLayoutParams(joyLParams);
+
+		stickL.TAG = "L";
+		stickR.TAG = "R";
+		stickL.setPointerId(JoystickView.INVALID_POINTER_ID);
+		stickR.setPointerId(JoystickView.INVALID_POINTER_ID);
+
+		addView(stickL);
+
+		ViewGroup.LayoutParams padLParams = new ViewGroup.LayoutParams(
+				(int) padW, getMeasuredHeight());
+		removeView(pad);
+		pad.setLayoutParams(padLParams);
+		addView(pad);
+
+		addView(stickR);
+	}
+
+	@Override
+	protected void onLayout(boolean changed, int l, int t, int r, int b) {
+		super.onLayout(changed, l, t, r, b);
+		stickR.setTouchOffset(stickR.getLeft(), stickR.getTop());
+	}
+
+	public void setAutoReturnToCenter(boolean left, boolean right) {
+		stickL.setAutoReturnToCenter(left);
+		stickR.setAutoReturnToCenter(right);
+	}
+
+	public void setOnJostickMovedListener(JoystickMovedListener left,
+			JoystickMovedListener right) {
+		stickL.setOnJostickMovedListener(left);
+		stickR.setOnJostickMovedListener(right);
+	}
+
+	public void setOnJostickClickedListener(JoystickClickedListener left,
+			JoystickClickedListener right) {
+		stickL.setOnJostickClickedListener(left);
+		stickR.setOnJostickClickedListener(right);
+	}
+
+	public void setYAxisInverted(boolean leftYAxisInverted,
+			boolean rightYAxisInverted) {
+		stickL.setYAxisInverted(leftYAxisInverted);
+		stickL.setYAxisInverted(rightYAxisInverted);
+	}
+
+	public void setMovementConstraint(int movementConstraint) {
+		stickL.setMovementConstraint(movementConstraint);
+		stickR.setMovementConstraint(movementConstraint);
+	}
+
+	public void setMovementRange(float movementRangeLeft,
+			float movementRangeRight) {
+		stickL.setMovementRange(movementRangeLeft);
+		stickR.setMovementRange(movementRangeRight);
+	}
+
+	public void setMoveResolution(float leftMoveResolution,
+			float rightMoveResolution) {
+		stickL.setMoveResolution(leftMoveResolution);
+		stickR.setMoveResolution(rightMoveResolution);
+	}
+
+	public void setUserCoordinateSystem(int leftCoordinateSystem,
+			int rightCoordinateSystem) {
+		stickL.setUserCoordinateSystem(leftCoordinateSystem);
+		stickR.setUserCoordinateSystem(rightCoordinateSystem);
+	}
+
+	@Override
+	protected void dispatchDraw(Canvas canvas) {
+		super.dispatchDraw(canvas);
+		if (D) {
+			canvas.drawRect(1, 1, getMeasuredWidth() - 1,
+					getMeasuredHeight() - 1, dbgPaint1);
+		}
+	}
+
+	@Override
+	public boolean dispatchTouchEvent(MotionEvent ev) {
+		boolean l = stickL.dispatchTouchEvent(ev);
+		boolean r = stickR.dispatchTouchEvent(ev);
+		return l || r;
+	}
+
+	@Override
+	public boolean onTouchEvent(MotionEvent ev) {
+		boolean l = stickL.onTouchEvent(ev);
+		boolean r = stickR.onTouchEvent(ev);
+		return l || r;
+	}
+}

IOIOTruck/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java

@@ -0,0 +1,7 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+public interface JoystickClickedListener {
+	public void OnClicked();
+
+	public void OnReleased();
+}

IOIOTruck/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java

@@ -0,0 +1,9 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+public interface JoystickMovedListener {
+	public void OnMoved(int pan, int tilt);
+
+	public void OnReleased();
+
+	public void OnReturnedToCenter();
+}

IOIOTruck/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java

@@ -0,0 +1,542 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.view.HapticFeedbackConstants;
+import android.view.MotionEvent;
+import android.view.View;
+
+public class JoystickView extends View {
+	public static final int INVALID_POINTER_ID = -1;
+
+	// =========================================
+	// Private Members
+	// =========================================
+	private final boolean D = false;
+	String TAG = "JoystickView";
+
+	private Paint dbgPaint1;
+	private Paint dbgPaint2;
+
+	private Paint bgPaint;
+	private Paint handlePaint;
+
+	private int innerPadding;
+	private int bgRadius;
+	private int handleRadius;
+	private int movementRadius;
+	private int handleInnerBoundaries;
+
+	private JoystickMovedListener moveListener;
+	private JoystickClickedListener clickListener;
+
+	// # of pixels movement required between reporting to the listener
+	private float moveResolution;
+
+	private boolean yAxisInverted;
+	private boolean autoReturnToCenter;
+
+	// Max range of movement in user coordinate system
+	public final static int CONSTRAIN_BOX = 0;
+	public final static int CONSTRAIN_CIRCLE = 1;
+	private int movementConstraint;
+	private float movementRange;
+
+	public final static int COORDINATE_CARTESIAN = 0; // Regular cartesian
+														// coordinates
+	public final static int COORDINATE_DIFFERENTIAL = 1; // Uses polar rotation
+															// of 45 degrees to
+															// calc differential
+															// drive paramaters
+	private int userCoordinateSystem;
+
+	// Records touch pressure for click handling
+	private float touchPressure;
+	private boolean clicked;
+	private float clickThreshold;
+
+	// Last touch point in view coordinates
+	private int pointerId = INVALID_POINTER_ID;
+	private float touchX, touchY;
+
+	// Last reported position in view coordinates (allows different reporting
+	// sensitivities)
+	private float reportX, reportY;
+
+	// Handle center in view coordinates
+	private float handleX, handleY;
+
+	// Center of the view in view coordinates
+	private int cX, cY;
+
+	// Size of the view in view coordinates
+	private int dimX;
+
+	// Cartesian coordinates of last touch point - joystick center is (0,0)
+	private int cartX, cartY;
+
+	// Polar coordinates of the touch point from joystick center
+	private double radial;
+	private double angle;
+
+	// User coordinates of last touch point
+	private int userX, userY;
+
+	// Offset co-ordinates (used when touch events are received from parent's
+	// coordinate origin)
+	private int offsetX;
+	private int offsetY;
+
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public JoystickView(Context context) {
+		super(context);
+		initJoystickView();
+	}
+
+	public JoystickView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		initJoystickView();
+	}
+
+	public JoystickView(Context context, AttributeSet attrs, int defStyle) {
+		super(context, attrs, defStyle);
+		initJoystickView();
+	}
+
+	// =========================================
+	// Initialization
+	// =========================================
+
+	private void initJoystickView() {
+		setFocusable(true);
+
+		dbgPaint1 = new Paint(Paint.ANTI_ALIAS_FLAG);
+		dbgPaint1.setColor(Color.RED);
+		dbgPaint1.setStrokeWidth(1);
+		dbgPaint1.setStyle(Paint.Style.STROKE);
+
+		dbgPaint2 = new Paint(Paint.ANTI_ALIAS_FLAG);
+		dbgPaint2.setColor(Color.GREEN);
+		dbgPaint2.setStrokeWidth(1);
+		dbgPaint2.setStyle(Paint.Style.STROKE);
+
+		bgPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		bgPaint.setColor(Color.GRAY);
+		bgPaint.setStrokeWidth(1);
+		bgPaint.setAlpha(80);
+		bgPaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+		handlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		handlePaint.setColor(Color.DKGRAY);
+		handlePaint.setStrokeWidth(1);
+		handlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+		innerPadding = 10;
+
+		setMovementRange(10);
+		setMoveResolution(1.0f);
+		setClickThreshold(0.4f);
+		setYAxisInverted(true);
+		setUserCoordinateSystem(COORDINATE_CARTESIAN);
+		setAutoReturnToCenter(true);
+	}
+
+	public void setAutoReturnToCenter(boolean autoReturnToCenter) {
+		this.autoReturnToCenter = autoReturnToCenter;
+	}
+
+	public boolean isAutoReturnToCenter() {
+		return autoReturnToCenter;
+	}
+
+	public void setUserCoordinateSystem(int userCoordinateSystem) {
+		if (userCoordinateSystem < COORDINATE_CARTESIAN
+				|| movementConstraint > COORDINATE_DIFFERENTIAL)
+			Log.e(TAG, "invalid value for userCoordinateSystem");
+		else
+			this.userCoordinateSystem = userCoordinateSystem;
+	}
+
+	public int getUserCoordinateSystem() {
+		return userCoordinateSystem;
+	}
+
+	public void setMovementConstraint(int movementConstraint) {
+		if (movementConstraint < CONSTRAIN_BOX
+				|| movementConstraint > CONSTRAIN_CIRCLE)
+			Log.e(TAG, "invalid value for movementConstraint");
+		else
+			this.movementConstraint = movementConstraint;
+	}
+
+	public int getMovementConstraint() {
+		return movementConstraint;
+	}
+
+	public boolean isYAxisInverted() {
+		return yAxisInverted;
+	}
+
+	public void setYAxisInverted(boolean yAxisInverted) {
+		this.yAxisInverted = yAxisInverted;
+	}
+
+	/**
+	 * Set the pressure sensitivity for registering a click
+	 * 
+	 * @param clickThreshold
+	 *            threshold 0...1.0f inclusive. 0 will cause clicks to never be
+	 *            reported, 1.0 is a very hard click
+	 */
+	public void setClickThreshold(float clickThreshold) {
+		if (clickThreshold < 0 || clickThreshold > 1.0f)
+			Log.e(TAG, "clickThreshold must range from 0...1.0f inclusive");
+		else
+			this.clickThreshold = clickThreshold;
+	}
+
+	public float getClickThreshold() {
+		return clickThreshold;
+	}
+
+	public void setMovementRange(float movementRange) {
+		this.movementRange = movementRange;
+	}
+
+	public float getMovementRange() {
+		return movementRange;
+	}
+
+	public void setMoveResolution(float moveResolution) {
+		this.moveResolution = moveResolution;
+	}
+
+	public float getMoveResolution() {
+		return moveResolution;
+	}
+
+	// =========================================
+	// Public Methods
+	// =========================================
+
+	public void setOnJostickMovedListener(JoystickMovedListener listener) {
+		this.moveListener = listener;
+	}
+
+	public void setOnJostickClickedListener(JoystickClickedListener listener) {
+		this.clickListener = listener;
+	}
+
+	// =========================================
+	// Drawing Functionality
+	// =========================================
+
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		// Here we make sure that we have a perfect circle
+		int measuredWidth = measure(widthMeasureSpec);
+		int measuredHeight = measure(heightMeasureSpec);
+		setMeasuredDimension(measuredWidth, measuredHeight);
+	}
+
+	@Override
+	protected void onLayout(boolean changed, int left, int top, int right,
+			int bottom) {
+		super.onLayout(changed, left, top, right, bottom);
+
+		int d = Math.min(getMeasuredWidth(), getMeasuredHeight());
+
+		dimX = d;
+		// dimY = d;
+
+		cX = d / 2;
+		cY = d / 2;
+
+		bgRadius = dimX / 2 - innerPadding;
+		handleRadius = (int) (d * 0.25);
+		handleInnerBoundaries = handleRadius;
+		movementRadius = Math.min(cX, cY) - handleInnerBoundaries;
+	}
+
+	private int measure(int measureSpec) {
+		int result = 0;
+		// Decode the measurement specifications.
+		int specMode = MeasureSpec.getMode(measureSpec);
+		int specSize = MeasureSpec.getSize(measureSpec);
+		if (specMode == MeasureSpec.UNSPECIFIED) {
+			// Return a default size of 200 if no bounds are specified.
+			result = 200;
+		} else {
+			// As you want to fill the available space
+			// always return the full available bounds.
+			result = specSize;
+		}
+		return result;
+	}
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		canvas.save();
+		// Draw the background
+		canvas.drawCircle(cX, cY, bgRadius, bgPaint);
+
+		// Draw the handle
+		handleX = touchX + cX;
+		handleY = touchY + cY;
+		canvas.drawCircle(handleX, handleY, handleRadius, handlePaint);
+
+		if (D) {
+			canvas.drawRect(1, 1, getMeasuredWidth() - 1,
+					getMeasuredHeight() - 1, dbgPaint1);
+
+			canvas.drawCircle(handleX, handleY, 3, dbgPaint1);
+
+			if (movementConstraint == CONSTRAIN_CIRCLE) {
+				canvas.drawCircle(cX, cY, this.movementRadius, dbgPaint1);
+			} else {
+				canvas.drawRect(cX - movementRadius, cY - movementRadius, cX
+						+ movementRadius, cY + movementRadius, dbgPaint1);
+			}
+
+			// Origin to touch point
+			canvas.drawLine(cX, cY, handleX, handleY, dbgPaint2);
+
+			int baseY = (int) (touchY < 0 ? cY + handleRadius : cY
+					- handleRadius);
+			canvas.drawText(
+					String.format("%s (%.0f,%.0f)", TAG, touchX, touchY),
+					handleX - 20, baseY - 7, dbgPaint2);
+			canvas.drawText(
+					"("
+							+ String.format("%.0f, %.1f", radial,
+									angle * 57.2957795) + (char) 0x00B0 + ")",
+					handleX - 20, baseY + 15, dbgPaint2);
+		}
+
+		// Log.d(TAG, String.format("touch(%f,%f)", touchX, touchY));
+		// Log.d(TAG, String.format("onDraw(%.1f,%.1f)\n\n", handleX, handleY));
+		canvas.restore();
+	}
+
+	// Constrain touch within a box
+	private void constrainBox() {
+		touchX = Math.max(Math.min(touchX, movementRadius), -movementRadius);
+		touchY = Math.max(Math.min(touchY, movementRadius), -movementRadius);
+	}
+
+	// Constrain touch within a circle
+	private void constrainCircle() {
+		float diffX = touchX;
+		float diffY = touchY;
+		double radial = Math.sqrt((diffX * diffX) + (diffY * diffY));
+		if (radial > movementRadius) {
+			touchX = (int) ((diffX / radial) * movementRadius);
+			touchY = (int) ((diffY / radial) * movementRadius);
+		}
+	}
+
+	public void setPointerId(int id) {
+		this.pointerId = id;
+	}
+
+	public int getPointerId() {
+		return pointerId;
+	}
+
+	@Override
+	public boolean onTouchEvent(MotionEvent ev) {
+		final int action = ev.getAction();
+		switch (action & MotionEvent.ACTION_MASK) {
+		case MotionEvent.ACTION_MOVE: {
+			return processMoveEvent(ev);
+		}
+		case MotionEvent.ACTION_CANCEL:
+		case MotionEvent.ACTION_UP: {
+			if (pointerId != INVALID_POINTER_ID) {
+				// Log.d(TAG, "ACTION_UP");
+				returnHandleToCenter();
+				setPointerId(INVALID_POINTER_ID);
+			}
+			break;
+		}
+		case MotionEvent.ACTION_POINTER_UP: {
+			if (pointerId != INVALID_POINTER_ID) {
+				final int pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
+				final int pointerId = ev.getPointerId(pointerIndex);
+				if (pointerId == this.pointerId) {
+					// Log.d(TAG, "ACTION_POINTER_UP: " + pointerId);
+					returnHandleToCenter();
+					setPointerId(INVALID_POINTER_ID);
+					return true;
+				}
+			}
+			break;
+		}
+		case MotionEvent.ACTION_DOWN: {
+			if (pointerId == INVALID_POINTER_ID) {
+				int x = (int) ev.getX();
+				if (x >= offsetX && x < offsetX + dimX) {
+					setPointerId(ev.getPointerId(0));
+					// Log.d(TAG, "ACTION_DOWN: " + getPointerId());
+					return true;
+				}
+			}
+			break;
+		}
+		case MotionEvent.ACTION_POINTER_DOWN: {
+			if (pointerId == INVALID_POINTER_ID) {
+				final int pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
+				final int pointerId = ev.getPointerId(pointerIndex);
+				int x = (int) ev.getX(pointerId);
+				if (x >= offsetX && x < offsetX + dimX) {
+					// Log.d(TAG, "ACTION_POINTER_DOWN: " + pointerId);
+					setPointerId(pointerId);
+					return true;
+				}
+			}
+			break;
+		}
+		}
+		return false;
+	}
+
+	private boolean processMoveEvent(MotionEvent ev) {
+		if (pointerId != INVALID_POINTER_ID) {
+			final int pointerIndex = ev.findPointerIndex(pointerId);
+
+			// Translate touch position to center of view
+			float x = ev.getX(pointerIndex);
+			touchX = x - cX - offsetX;
+			float y = ev.getY(pointerIndex);
+			touchY = y - cY - offsetY;
+
+			// Log.d(TAG,
+			// String.format("ACTION_MOVE: (%03.0f, %03.0f) => (%03.0f, %03.0f)",
+			// x, y, touchX, touchY));
+
+			reportOnMoved();
+			invalidate();
+
+			touchPressure = ev.getPressure(pointerIndex);
+			reportOnPressure();
+
+			return true;
+		}
+		return false;
+	}
+
+	private void reportOnMoved() {
+		if (movementConstraint == CONSTRAIN_CIRCLE)
+			constrainCircle();
+		else
+			constrainBox();
+
+		calcUserCoordinates();
+
+		if (moveListener != null) {
+			boolean rx = Math.abs(touchX - reportX) >= moveResolution;
+			boolean ry = Math.abs(touchY - reportY) >= moveResolution;
+			if (rx || ry) {
+				this.reportX = touchX;
+				this.reportY = touchY;
+
+				// Log.d(TAG, String.format("moveListener.OnMoved(%d,%d)",
+				// (int)userX, (int)userY));
+				moveListener.OnMoved(userX, userY);
+			}
+		}
+	}
+
+	private void calcUserCoordinates() {
+		// First convert to cartesian coordinates
+		cartX = (int) (touchX / movementRadius * movementRange);
+		cartY = (int) (touchY / movementRadius * movementRange);
+
+		radial = Math.sqrt((cartX * cartX) + (cartY * cartY));
+		angle = Math.atan2(cartY, cartX);
+
+		// Invert Y axis if requested
+		if (!yAxisInverted)
+			cartY *= -1;
+
+		if (userCoordinateSystem == COORDINATE_CARTESIAN) {
+			userX = cartX;
+			userY = cartY;
+		} else if (userCoordinateSystem == COORDINATE_DIFFERENTIAL) {
+			userX = cartY + cartX / 4;
+			userY = cartY - cartX / 4;
+
+			if (userX < -movementRange)
+				userX = (int) -movementRange;
+			if (userX > movementRange)
+				userX = (int) movementRange;
+
+			if (userY < -movementRange)
+				userY = (int) -movementRange;
+			if (userY > movementRange)
+				userY = (int) movementRange;
+		}
+
+	}
+
+	// Simple pressure click
+	private void reportOnPressure() {
+		// Log.d(TAG, String.format("touchPressure=%.2f", this.touchPressure));
+		if (clickListener != null) {
+			if (clicked && touchPressure < clickThreshold) {
+				clickListener.OnReleased();
+				this.clicked = false;
+				// Log.d(TAG, "reset click");
+				invalidate();
+			} else if (!clicked && touchPressure >= clickThreshold) {
+				clicked = true;
+				clickListener.OnClicked();
+				// Log.d(TAG, "click");
+				invalidate();
+				performHapticFeedback(HapticFeedbackConstants.VIRTUAL_KEY);
+			}
+		}
+	}
+
+	private void returnHandleToCenter() {
+		if (autoReturnToCenter) {
+			final int numberOfFrames = 5;
+			final double intervalsX = (0 - touchX) / numberOfFrames;
+			final double intervalsY = (0 - touchY) / numberOfFrames;
+
+			for (int i = 0; i < numberOfFrames; i++) {
+				final int j = i;
+				postDelayed(new Runnable() {
+					@Override
+					public void run() {
+						touchX += intervalsX;
+						touchY += intervalsY;
+
+						reportOnMoved();
+						invalidate();
+
+						if (moveListener != null && j == numberOfFrames - 1) {
+							moveListener.OnReturnedToCenter();
+						}
+					}
+				}, i * 40);
+			}
+
+			if (moveListener != null) {
+				moveListener.OnReleased();
+			}
+		}
+	}
+
+	public void setTouchOffset(int x, int y) {
+		offsetX = x;
+		offsetY = y;
+	}
+}

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/CameraActivity.java

@@ -20,7 +20,7 @@
  */
 package com.TwentyCodes.android.IOIOTruck;
 
-import com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener;
+import com.TwentyCodes.android.IOIOTruck.IOIOTruckConnectionManager.IOIOTruckThreadListener;
 
 import android.content.Context;
 import android.os.Bundle;
@@ -40,7 +40,7 @@ import android.widget.TextView;
 public class CameraActivity extends FragmentActivity implements IOIOTruckThreadListener {
 
 	private static final String TAG = "CameraActivity";
-	private IOIOTruckManager mIOIOManager;
+	private IOIOTruckConnectionManager mIOIOManager;
 	private WakeLock mWakeLock;
 	private TextView mLogTextView;
 
@@ -54,6 +54,28 @@ public class CameraActivity extends FragmentActivity implements IOIOTruckThreadL
 		super.onCreate(icicle);
 		setContentView(R.layout.camera_activity);
 		mLogTextView = (TextView) findViewById(R.id.log_textView);
+		mIOIOManager = new IOIOTruckConnectionManager(this, this);
+		mIOIOManager.getIOIOAndroidApplicationHelper().create();
+	}
+
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onDestroy()
+	 */
+	@Override
+	protected void onDestroy() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().destroy();
+		super.onDestroy();
+	}
+
+	/**
+	 * Called when the IOIO Manager wants to log something
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckConnectionManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
+	 */
+	@Override
+	public void onLogUpdate(String log) {
+		mLogTextView.setText(log);
 	}
 
 	/**
@@ -64,15 +86,20 @@ public class CameraActivity extends FragmentActivity implements IOIOTruckThreadL
 	@Override
 	protected void onPause() {
 		super.onPause();
-		try {
-			mIOIOManager.abort();
-		} catch (InterruptedException e) {
-			e.printStackTrace();
-		}
 		if(mWakeLock.isHeld())
 			mWakeLock.release();
 	}
 
+	/**
+	 * (non-Javadoc)
+	 * @see android.app.Activity#onRestart()
+	 */
+	@Override
+	protected void onRestart() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().restart();
+		super.onRestart();
+	}
+
 	/**
 	 * Called when the activity is resuming
 	 * (non-Javadoc)
@@ -80,8 +107,6 @@ public class CameraActivity extends FragmentActivity implements IOIOTruckThreadL
 	 */
 	@Override
 	protected void onResume() {
-		mIOIOManager = new IOIOTruckManager(this, this);
-		mIOIOManager.start();
 		
 		PowerManager pm = (PowerManager) this.getSystemService(Context.POWER_SERVICE);
 		mWakeLock = pm.newWakeLock(PowerManager.SCREEN_DIM_WAKE_LOCK | PowerManager.ON_AFTER_RELEASE, TAG);
@@ -90,13 +115,23 @@ public class CameraActivity extends FragmentActivity implements IOIOTruckThreadL
 	}
 
 	/**
-	 * Called when the IOIO Manager wants to log something
 	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
+	 * @see android.support.v4.app.FragmentActivity#onStart()
 	 */
 	@Override
-	public void onLogUpdate(String log) {
+	protected void onStart() {
-		mLogTextView.setText(log);
+		mIOIOManager.getIOIOAndroidApplicationHelper().start();
+		super.onStart();
+	}
+
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onStop()
+	 */
+	@Override
+	protected void onStop() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().stop();
+		super.onStop();
 	}
 
 }

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/CameraFragment.java

@@ -39,8 +39,6 @@ import android.view.View;
 import android.view.ViewGroup;
 import android.widget.FrameLayout;
 
-import com.TwentyCodes.android.location.R;
-
 /**
  * This camera fragment will be used to maintain the camera, display a preview on the screen, display a vanishing point overlay on the preview
  * @author ricky barrette

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Debug.java

@@ -34,7 +34,7 @@ public class Debug {
 	/**
 	 * Sets the size of the radius of a user selected point in km
 	 */
-	public static final float RADIUS = .005f;
+	public static final float RADIUS = 0.009144f;
 
 	/**
 	 * Sets the amount of kilometers that a radius needs to be penetrated by an accuracy circle in km

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckConnectionManager.java

@@ -25,15 +25,17 @@ import ioio.lib.api.DigitalOutput;
 import ioio.lib.api.IOIO;
 import ioio.lib.api.PwmOutput;
 import ioio.lib.api.exception.ConnectionLostException;
+import ioio.lib.util.IOIOLooper;
+import ioio.lib.util.IOIOLooperProvider;
+import ioio.lib.util.android.IOIOAndroidApplicationHelper;
 import android.app.Activity;
-
+import android.util.Log;
-import com.TwentyCodes.android.ioio.IOIOManager;
 
 /**
  * This IOIO thread will be used to drive a rc truck
  * @author ricky barrette
  */
-public class IOIOTruckManager extends IOIOManager {
+public class IOIOTruckConnectionManager implements IOIOLooper, IOIOLooperProvider {
 
 	/**
 	 * This listener will be used to notify the owner of this thread to update the onscreen log 
@@ -55,6 +57,10 @@ public class IOIOTruckManager extends IOIOManager {
 	private DigitalOutput mMotorDriverStandBy;
 	private DigitalInput mLeftFrontBumber;
 	private DigitalInput mRightFrontBumber;
+	private boolean isStatLedEnabled;
+	private IOIOAndroidApplicationHelper mIOIOAndroidApplicationHelper;
+//	private IOIO mIOIO;
+	private DigitalOutput mStatLed;
 	
 	/**
 	 * Creates a new IOIOTruckThread
@@ -62,8 +68,9 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @param listener
 	 * @author ricky barrette
 	 */
-	public IOIOTruckManager(Activity activity, IOIOTruckThreadListener listener){
+	public IOIOTruckConnectionManager(Activity activity, IOIOTruckThreadListener listener){
 		super();
+		mIOIOAndroidApplicationHelper = new IOIOAndroidApplicationHelper(activity, this);
 		mActivity = activity;
 		mListener = listener;
 		updateLog(R.string.wait_ioio);
@@ -111,9 +118,11 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @see com.TwentyCodes.android.ioio.IOIOThread#onConnected()
 	 */
 	@Override
-	public void onConnected(IOIO ioio) throws ConnectionLostException {
+	public void setup(IOIO ioio) throws ConnectionLostException,InterruptedException {
 		updateLog(R.string.ioio_connected);
+//		mIOIO = ioio;
 		
+		mStatLed = ioio.openDigitalOutput(0, true);
 		mShifter = ioio.openPwmOutput(IOIOTruckValues.SHIFTER_PORT, IOIOTruckValues.RC_PWM_FRQ);
 		mLeftMotor = new TB6612FNGMotorDriver(ioio, IOIOTruckValues.MOTOR_DRIVER_PWMA, IOIOTruckValues.MOTOR_DRIVER_A1, IOIOTruckValues.MOTOR_DRIVER_A2);
 		mRightMotor = new TB6612FNGMotorDriver(ioio, IOIOTruckValues.MOTOR_DRIVER_PWMB, IOIOTruckValues.MOTOR_DRIVER_B1, IOIOTruckValues.MOTOR_DRIVER_B2);
@@ -133,7 +142,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @see com.TwentyCodes.android.ioio.IOIOThread#onDisconnect()
 	 */
 	@Override
-	public void onDisconnected() {
+	public void disconnected() {
 		updateLog(R.string.wait_ioio);
 	}
 
@@ -145,35 +154,40 @@ public class IOIOTruckManager extends IOIOManager {
 	@Override
 	public void loop() throws ConnectionLostException, InterruptedException {
 		
-		this.setStatLedEnabled(isStatLedEnabled());
-		
-		mShifter.setPulseWidth(mShifterValue);
-		
 		/*
 		 * we need to check our sensors before we can make a move. 
 		 */
 		if(mLeftFrontBumber.read()){
 			//TODO backup, spin right, drive forward
-			setStatLedEnabled(false);
+			isStatLedEnabled = false;
 		} else if(mRightFrontBumber.read()){
 			//TODO backup, spin left, drive forward
-			setStatLedEnabled(false);
+			isStatLedEnabled = false;
 		}
 		
-		mMotorDriverStandBy.write(isStatLedEnabled());
+//		mIOIO.beginBatch();
+		
+		mStatLed.write(!isStatLedEnabled);
+		
+		mShifter.setPulseWidth(mShifterValue);
+		
+		
+		mMotorDriverStandBy.write(isStatLedEnabled);
 		
 		/*
 		 * if the autonomous routine is running
 		 * then drive the truck
 		 * else stop the truck
 		 */
-		if(isStatLedEnabled()){
+		if(isStatLedEnabled){
 			arcadeDrive();
 		}
 		else{				
 			mLeftMotor.setSpeed(0);
 			mRightMotor.setSpeed(0);
 		}
+		
+//		mIOIO.endBatch();
 	}
 
 	/**
@@ -211,4 +225,40 @@ public class IOIOTruckManager extends IOIOManager {
 				}
 			});
 	}
+
+	@Override
+	public void incompatible() {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public IOIOLooper createIOIOLooper(String connectionType, Object extra) {
+		Log.v(TAG, connectionType);
+		return this;
+	}
+
+	/**
+	 * @return the mIOIOAndroidApplicationHelper
+	 */
+	public IOIOAndroidApplicationHelper getIOIOAndroidApplicationHelper() {
+		return mIOIOAndroidApplicationHelper;
+	}
+
+	/**
+	 * set the status of the led
+	 * @param b
+	 * @author ricky barrette
+	 */
+	public void setStatLedEnabled(boolean b) {
+		this.isStatLedEnabled = b;
+	}
+	
+	/**
+	 * @return state of status led
+	 * @author ricky barrette
+	 */
+	public boolean isStatLedEnabled(){
+		return this.isStatLedEnabled;
+	}
 }

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Main.java

@@ -47,6 +47,8 @@ public class Main extends Activity implements OnClickListener {
         Thread.setDefaultUncaughtExceptionHandler(new ExceptionHandler(this));
         setContentView(R.layout.main);
         
+//        Integer.parseInt("poop");
+        
         findViewById(R.id.test_activity_button).setOnClickListener(this);
         findViewById(R.id.nav_activity_button).setOnClickListener(this);
         findViewById(R.id.camera_activity_button).setOnClickListener(this);

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/MapFragment.java

@@ -21,10 +21,18 @@
  */
 package com.TwentyCodes.android.IOIOTruck;
 
+import java.io.IOException;
+
+import org.apache.http.client.ClientProtocolException;
+import org.json.JSONException;
+
 import android.util.Log;
 
+import com.TwentyCodes.android.fragments.UserOverlayMapFragment;
 import com.TwentyCodes.android.location.MapView;
 import com.TwentyCodes.android.location.OnLocationSelectedListener;
+import com.TwentyCodes.android.overlays.DirectionsOverlay;
+import com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener;
 import com.TwentyCodes.android.overlays.RadiusOverlay;
 import com.google.android.maps.GeoPoint;
 
@@ -34,12 +42,13 @@ import com.google.android.maps.GeoPoint;
  * Specifically this map view will allow user to select a point on the map via RadiusOverlay
  * @author ricky barrette
  */
-public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMapFragment implements OnLocationSelectedListener {
+public class MapFragment extends UserOverlayMapFragment implements OnLocationSelectedListener, OnDirectionsCompleteListener {
 	
 	private final String TAG = "MapFragment";
-
 	private RadiusOverlay mRadiusOverlay;
 	private OnLocationSelectedListener mLocationSelectedListener;
+	private OnDirectionsCompleteListener mDirectionsCompleteListener;
+	private DirectionsOverlay mDirectionsOverlay;
 
 	/**
 	 * Creates a new MapFragment
@@ -49,13 +58,49 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 		super();
 	}
 
+	/**
+	 * Called whrn the directions overlay is finished getting the directions.
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener#onDirectionsComplete(com.TwentyCodes.android.overlays.DirectionsOverlay)
+	 */
+	@Override
+	public void onDirectionsComplete(DirectionsOverlay directionsOverlay) {
+		mDirectionsOverlay = directionsOverlay;
+		if(mDirectionsCompleteListener != null)
+			mDirectionsCompleteListener.onDirectionsComplete(directionsOverlay);
+	}
+
 	/**
 	 * Called when a point is selected on the map 
 	 * (non-Javadoc)
 	 * @see com.TwentyCodes.android.location.LocationSelectedListener#onLocationSelected(com.google.android.maps.GeoPoint)
 	 */
 	@Override
-	public void onLocationSelected(GeoPoint point) {
+	public void onLocationSelected(final GeoPoint point) {
+		
+		if(mDirectionsCompleteListener != null)
+			new Thread( new Runnable(){
+				@Override
+				public void run(){
+					try {
+						new DirectionsOverlay(getMap(), getUserLocation(), point, MapFragment.this);
+					} catch (IllegalStateException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					} catch (ClientProtocolException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					} catch (IOException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					} catch (JSONException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					}
+				}
+			}).start();
+		
+		removePath();
 		
 		setDestination(point);
 		
@@ -72,7 +117,7 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 		} else if(Debug.DEBUG)
 			Log.d(TAG, "onLocationSelected() Location was null");
 	}
-
+	
 	/**
 	 * (non-Javadoc)
 	 * @see com.TwentyCodes.android.location.UserOverlayMapFragment#onMapViewCreate(com.TwentyCodes.android.location.MapView)
@@ -86,6 +131,24 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 		super.onMapViewCreate(map);
 	}
 	
+	/**
+	 * Removes the path if displayed 
+	 * @author ricky barrette
+	 */
+	public void removePath(){
+		if(mDirectionsOverlay != null)
+			mDirectionsOverlay.removePath();
+	}
+	
+	/**
+	 * sets the distener for the directions overlay
+	 * @param listener
+	 * @author ricky barrette
+	 */
+	public void setDirectionsCompleteListener(OnDirectionsCompleteListener listener){
+		mDirectionsCompleteListener = listener;
+	}
+	
 	/**
 	 * @param listener
 	 * @author ricky barrette
@@ -93,7 +156,7 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 	public void setLocationSelectedListener(OnLocationSelectedListener listener){
 		mLocationSelectedListener = listener;
 	}
-	
+
 	/**
 	 * @param radius meters
 	 * @author ricky barrette
@@ -109,4 +172,4 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 	public void setRadiusColor(int color){
 		mRadiusOverlay.setColor(color);
 	}
-}
+}

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java

@@ -21,7 +21,10 @@
  */
 package com.TwentyCodes.android.IOIOTruck;
 
+import java.util.ArrayList;
+
 import android.content.Context;
+import android.graphics.Color;
 import android.os.Bundle;
 import android.os.PowerManager;
 import android.os.PowerManager.WakeLock;
@@ -38,11 +41,14 @@ import android.widget.Switch;
 import android.widget.TextView;
 import android.widget.Toast;
 
-import com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener;
+import com.TwentyCodes.android.IOIOTruck.IOIOTruckConnectionManager.IOIOTruckThreadListener;
-import com.TwentyCodes.android.location.CompassListener;
+import com.TwentyCodes.android.location.CompassSensor.CompassListener;
 import com.TwentyCodes.android.location.GeoPointLocationListener;
 import com.TwentyCodes.android.location.GeoUtils;
 import com.TwentyCodes.android.location.OnLocationSelectedListener;
+import com.TwentyCodes.android.overlays.DirectionsOverlay;
+import com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener;
+import com.TwentyCodes.android.overlays.PathOverlay;
 import com.google.android.maps.GeoPoint;
 
 
@@ -57,28 +63,7 @@ import com.google.android.maps.GeoPoint;
  *  + drive the truck forward or reverse to best navigate to the selected point
  * @author ricky barrette
  */
-public class NavigationActivity extends FragmentActivity implements CompassListener, GeoPointLocationListener, OnLocationSelectedListener, OnClickListener, OnCheckedChangeListener, IOIOTruckThreadListener {
+public class NavigationActivity extends FragmentActivity implements CompassListener, GeoPointLocationListener, OnLocationSelectedListener, OnClickListener, OnCheckedChangeListener, IOIOTruckThreadListener, OnDirectionsCompleteListener {
-	
-	private static final String TAG = "NavigationActivity";
-	private IOIOTruckManager mIOIOManager;
-	private MapFragment mMap;
-	private TextView mLog;
-	private GeoPoint mPoint;
-	private ProgressBar mProgress;
-	private int mMaxDistance = 0; //meters
-	private boolean isRunning = false;
-	private Button mGoButton;
-	private float mBearing;
-	private ScrollView mScrollView;
-
-	private boolean isScrollingEnabled = true;
-	private int mDistance;
-	private LogUpdater mLoggerThread;
-	private TextView mAccuracyTextView;
-	private TextView mLastUpdateTextView;
-	private long mLast;
-	private WakeLock mWakeLock;
-	private int mCount;
 	
 	/**
 	 * This thread will be used to update all the informational displays
@@ -92,23 +77,21 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		 * aborts the thread 
 		 * @author ricky barrette
 		 */
-		public void abort() {
+		public synchronized void abort() {
 			isAborted = true;
 		}
 		
 		@Override
 		public void run(){
-			while (true) {
+			while (!isAborted) {
-					if (isAborted) 
-						break;
 					updateLog("\nDistance: "+ mDistance +getString(R.string.m)
 							+"\nDrive: "+mIOIOManager.getDriveValue()
 							+"\nSteering: "+mIOIOManager.getSteerValue()
 							+"\nBearing: "+mBearing
 							+"\nisRunning: "+isRunning);
-					
+							if(mPoints != null)
-					updateLastUpdateTextView();
+								updateLog("Point = "+mIndex +" of "+ mPoints.size());
-					
+							updateLastUpdateTextView();
 					try {
 						sleep(1000);
 					} catch (InterruptedException e) {
@@ -133,6 +116,30 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		}
 			
 	}
+	private static final String TAG = "NavigationActivity";
+	private IOIOTruckConnectionManager mIOIOManager;
+	private MapFragment mMap;
+	private TextView mLog;
+	private ProgressBar mProgress;
+	private boolean isRunning = false;
+	private Button mGoButton;
+	private float mBearing;
+	private ScrollView mScrollView;
+	private boolean isScrollingEnabled = true;
+	private int mDistance;
+	private LogUpdater mLoggerThread;
+	private TextView mAccuracyTextView;
+	private TextView mLastUpdateTextView;
+	private long mLast;
+	private WakeLock mWakeLock;
+	private int mCount = 0;
+	private ArrayList<GeoPoint> mPoints;
+	private int mIndex = 0;
+	private GeoPoint mDestPoint;
+	private ArrayList<PathOverlay> mWayPoints;
+	private GeoPoint mLastReportedLocation;
+	private float mHeading = 0;
+	private long mLastReportedTime;
 
 	/**
 	 * Called when the scrolling switch is checked
@@ -161,7 +168,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 				break;
 				
 			case R.id.mark_my_lcoation_button:
-				GeoPoint point = mMap.getUserLocation();
+				final GeoPoint point = mMap.getUserLocation();
 				
 				if(point != null){
 					mMap.onLocationSelected(point);
@@ -170,7 +177,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 				break;
 				
 			case R.id.my_location_button:
-				GeoPoint user = mMap.getUserLocation();
+				final GeoPoint user = mMap.getUserLocation();
 				
 				if(user != null){
 					mMap.setMapCenter(user);
@@ -181,6 +188,290 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		}
 	}
 
+	/**
+	 * Called when there is an update from the compass
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.location.CompassListener#onCompassUpdate(float)
+	 */
+	@Override
+	public void onCompassUpdate(float bearing) {
+		mBearing = bearing;
+		
+		if(Debug.DEBUG)
+			Log.v(TAG, "Bearing ="+bearing);
+		
+		/*
+		 * used calculated bearing if the last location was updated less than a x ago
+		 */
+		if((System.currentTimeMillis() - mLastReportedTime) < 500) 
+			mHeading = bearing;
+		
+		if(Debug.DEBUG)
+			Log.v(TAG, "Heading ="+mHeading);
+
+		
+		bearing = GeoUtils.calculateBearing(mMap.getUserLocation(), mMap.getDestination(), bearing < 0 ? bearing + 360 : bearing);
+
+		if(bearing > 355 || bearing < 5)
+			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_STRAIGHT);
+		
+		if(bearing < 355 && bearing > 180)
+			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_RIGHT);
+		
+		if(bearing < 180 && bearing > 5)
+			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_LEFT);
+	}
+	
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onCreate(android.os.Bundle)
+	 */
+	@Override
+	protected void onCreate(Bundle icicle) {
+		super.onCreate(icicle);
+		setContentView(R.layout.nav_activity);
+		
+		/*
+		 * init UI
+		 */
+		mLog = (TextView) findViewById(R.id.log_textView);
+		mGoButton = (Button) findViewById(R.id.go_button);
+		mProgress = (ProgressBar) findViewById(R.id.progressBar);
+		mScrollView = (ScrollView) findViewById(R.id.scrollview);
+		Switch scrollSwitch = (Switch) findViewById(R.id.scrolling_switch);
+		mAccuracyTextView = (TextView) findViewById(R.id.accuracy_textview);
+		mLastUpdateTextView = (TextView) findViewById(R.id.time_textview);
+
+		/*
+		 * init listeners
+		 */
+		scrollSwitch.setOnCheckedChangeListener(this);
+		mGoButton.setOnClickListener(this);
+		findViewById(R.id.mark_my_lcoation_button).setOnClickListener(this);
+		findViewById(R.id.my_location_button).setOnClickListener(this);
+		findViewById(R.id.map_button).setOnClickListener(this);
+		
+		mIOIOManager = new IOIOTruckConnectionManager(this, this);
+		mIOIOManager.getIOIOAndroidApplicationHelper().create();
+	}
+
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onDestroy()
+	 */
+	@Override
+	protected void onDestroy() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().destroy();
+		super.onDestroy();
+	}
+
+	/**
+	 * called when the directions overlay is generated
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener#onDirectionsComplete(com.TwentyCodes.android.overlays.DirectionsOverlay)
+	 */
+	@Override
+	public void onDirectionsComplete(DirectionsOverlay directionsOverlay) {
+		ArrayList<PathOverlay> path = directionsOverlay.getPath();
+		
+		if(path.size() > 0){
+			mWayPoints = new ArrayList<PathOverlay>();
+			ArrayList<GeoPoint> points = new ArrayList<GeoPoint>();
+			points.add(path.get(0).getStartPoint());
+			for(PathOverlay item : path)
+				if(item.getEndPoint() != null) {
+					points.add(item.getEndPoint());
+					mWayPoints.add(new PathOverlay(item.getEndPoint(), 5, Color.GRAY));
+				}
+		
+			mPoints = points;
+			mMap.setDestination(points.get(0));
+			mWayPoints.add(new PathOverlay(points.get(0), 5, Color.MAGENTA));
+			mMap.getMap().getOverlays().addAll(mWayPoints);
+			mWayPoints.addAll(path);
+		}
+	}
+
+	@Override
+	public void onFirstFix(boolean isFirstFix) {
+		mMap.disableGPSProgess();
+	}
+
+	/**
+	 * Called when android's location services have an update
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.location.GeoPointLocationListener#onLocationChanged(com.google.android.maps.GeoPoint, int)
+	 */
+	@Override
+	public synchronized void onLocationChanged(final GeoPoint point, final int accuracy) {
+		mLast = System.currentTimeMillis();
+		mAccuracyTextView.setText(accuracy+getString(R.string.m));
+		mDistance = updateProgress(point);
+		final GeoPoint currentDest = mMap.getDestination();
+		
+		/*
+		 * if we have a destination, check to see if we are there yet
+		 * if we are then increment mCount
+		 */
+		if(point != null)
+			
+			if(mLastReportedLocation != null){
+				if(!point.equals(mLastReportedLocation)){
+					mLastReportedTime = mLast;
+					float heading = new Float(GeoUtils.bearing(mLastReportedLocation, point));
+					mHeading = heading > 180 ? heading -360 : heading;
+					if(Debug.DEBUG)
+						updateLog("Heading = "+ mHeading);
+				}
+			}
+			mLastReportedLocation = point;
+			if(currentDest != null)
+				
+				
+				/*
+				 * are we closer than 30 feet?
+				 */
+//				if (GeoUtils.distanceKm(point, currentDest) < Debug.FUDGE_FACTOR) {
+				if(GeoUtils.isIntersecting(point, (float) (accuracy / 1E3), currentDest, Debug.RADIUS, Debug.FUDGE_FACTOR)) {
+					updateLog("Count = "+ (++mCount));
+					/*
+					 * if we get 6 positives, we are problay at our waypoint/dest
+					 */
+					if(mCount == 6){
+						
+						mCount = 0;
+						
+						/*
+						 * if the points list is null, or there are no more waypoints
+						 */
+						if(mPoints == null || mIndex == mPoints.size()){
+							mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
+							updateGoButton(true);
+							updateLog(R.string.dest_reached);
+							mMap.setDestination(null);
+						} else {
+								updateLog("Index = " + (++mIndex));
+							
+							/*
+							 * if there are more waypoints, then move on to the next
+							 * otherwise move on to the dest
+							 */
+							if(mIndex < mPoints.size()) {
+								updateLog("Waypoint reached, moving to next");
+								mMap.setDestination(mPoints.get(mIndex));
+							} else {
+								updateLog("last Waypoint reached, moving to dest");
+								mMap.setDestination(mDestPoint);
+							}
+							
+							updateLog("New dest = "+ mMap.getDestination().toString());
+						}
+					}
+					
+				} else {
+					Log.v(TAG, "Driving Forward");
+					mCount = 0;
+					mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_FORWARD);
+				}
+		else {
+			updateLog("Lost GPS signal (point was null), stopping");
+			mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
+		}
+
+	}
+
+	/**
+	 * Called when the user selects a point for the truck to drive to
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.location.LocationSelectedListener#onLocationSelected(com.google.android.maps.GeoPoint)
+	 */
+	@Override
+	public void onLocationSelected(GeoPoint point) {
+		if(mWayPoints != null)
+			mMap.getMap().getOverlays().removeAll(mWayPoints);
+		mDestPoint = point;
+		mDistance = updateProgress(mMap.getUserLocation());
+		updateLog(getString(R.string.point_selected)+point.toString());
+		mIndex = 0;
+		mCount = 0;
+	}
+
+	/**
+	 * Called when the IOIOTruckThread has a log it wants to display
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckConnectionManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
+	 */
+	@Override
+	public void onLogUpdate(String log) {
+		updateLog(log);
+	}
+	
+	/**
+	 * Called when the application is paused. We want to disconnect with the
+	 * IOIO at this point, as the user is no longer interacting with our
+	 * application.
+	 * @author ricky barrette
+	 */
+	@Override
+	protected void onPause() {
+		if(mLoggerThread != null)
+			mLoggerThread.abort();
+		
+		if(mWakeLock.isHeld())
+			mWakeLock.release();
+		super.onPause();
+	}
+	
+	/**
+	 * (non-Javadoc)
+	 * @see android.app.Activity#onRestart()
+	 */
+	@Override
+	protected void onRestart() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().restart();
+		super.onRestart();
+	}
+
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onResume()
+	 */
+	@Override
+	protected void onResume() {
+		super.onResume();
+		mMap = (MapFragment) this.getSupportFragmentManager().findFragmentById(R.id.map_fragment);
+		mMap.setCompassListener(this);
+		mMap.setGeoPointLocationListener(this);
+		mMap.setLocationSelectedListener(this);
+		mMap.setDirectionsCompleteListener(this);
+		mMap.setRadius((int) (Debug.RADIUS * 1E3));
+		mMap.enableGPSProgess();
+		
+		PowerManager pm = (PowerManager) this.getSystemService(Context.POWER_SERVICE);
+		mWakeLock = pm.newWakeLock(PowerManager.SCREEN_DIM_WAKE_LOCK | PowerManager.ON_AFTER_RELEASE, TAG);
+		mWakeLock.acquire();
+	}
+
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onStart()
+	 */
+	@Override
+	protected void onStart() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().start();
+		super.onStart();
+	}
+	
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onStop()
+	 */
+	@Override
+	protected void onStop() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().stop();
+		super.onStop();
+	}
+
 	/**
 	 * updates the go/stop button based on isRunning
 	 * thread safe 
@@ -189,7 +480,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 	private void updateGoButton() {
 		updateGoButton(isRunning);
 	}
-	
+
 	/**
 	 * Sets the go/stop button to the provided value
 	 * thread safe
@@ -219,149 +510,6 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		});
 	}
 
-	/**
-	 * Called when there is an update from the compass
-	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.location.CompassListener#onCompassUpdate(float)
-	 */
-	@Override
-	public void onCompassUpdate(float bearing) {
-		bearing = GeoUtils.calculateBearing(mMap.getUserLocation(), mPoint, bearing);
-
-		if(bearing > 355 || bearing < 5)
-			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_STRAIGHT);
-		
-		if(bearing < 355 && bearing > 180)
-			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_RIGHT);
-		
-		if(bearing < 180 && bearing > 5)
-			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_LEFT);
-		
-		mBearing = bearing;
-	}
-
-	/**
-	 * (non-Javadoc)
-	 * @see android.support.v4.app.FragmentActivity#onCreate(android.os.Bundle)
-	 */
-	@Override
-	protected void onCreate(Bundle icicle) {
-		super.onCreate(icicle);
-		setContentView(R.layout.nav_activity);
-		/*
-		 * init UI
-		 */
-		mLog = (TextView) findViewById(R.id.log_textView);
-		mGoButton = (Button) findViewById(R.id.go_button);
-		mProgress = (ProgressBar) findViewById(R.id.progressBar);
-		mScrollView = (ScrollView) findViewById(R.id.scrollview);
-		Switch scrollSwitch = (Switch) findViewById(R.id.scrolling_switch);
-		mAccuracyTextView = (TextView) findViewById(R.id.accuracy_textview);
-		mLastUpdateTextView = (TextView) findViewById(R.id.time_textview);
-
-		/*
-		 * init listeners
-		 */
-		scrollSwitch.setOnCheckedChangeListener(this);
-		mGoButton.setOnClickListener(this);
-		findViewById(R.id.mark_my_lcoation_button).setOnClickListener(this);
-		findViewById(R.id.my_location_button).setOnClickListener(this);
-		findViewById(R.id.map_button).setOnClickListener(this);
-	}
-	
-	/**
-	 * Called when android's location services have an update
-	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.location.GeoPointLocationListener#onLocationChanged(com.google.android.maps.GeoPoint, int)
-	 */
-	@Override
-	public void onLocationChanged(GeoPoint point, int accuracy) {
-		mLast = System.currentTimeMillis();
-		mAccuracyTextView.setText(accuracy+getString(R.string.m));
-		
-		mDistance = updateProgress(point);
-		
-		/*
-		 * here we will update the progress bar
-		 * 
-		 */
-		if(mPoint != null)
-			if(GeoUtils.isIntersecting(point, (float) (accuracy / 1E3), mPoint, Debug.RADIUS, Debug.FUDGE_FACTOR)) {
-				
-				mCount++;
-				
-				if(mCount > 5){
-					Log.v(TAG, "Dest Reached, Stopping");
-					mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
-					updateGoButton(true);
-					updateLog(R.string.dest_reached);
-				}
-			} else {
-				Log.v(TAG, "Driving Forward");
-				mCount = 0;
-				mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_FORWARD);
-			}
-		else{
-			Log.v(TAG, "Lost GPS signal, stopping");
-			mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
-		}
-
-	}
-	
-	/**
-	 * Called when the user selects a point for the truck to drive to
-	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.location.LocationSelectedListener#onLocationSelected(com.google.android.maps.GeoPoint)
-	 */
-	@Override
-	public void onLocationSelected(GeoPoint point) {
-		mPoint = point;
-		mDistance = updateProgress(mMap.getUserLocation());
-		updateLog(getString(R.string.point_selected)+point.toString());
-	}
-
-	/**
-	 * Called when the application is paused. We want to disconnect with the
-	 * IOIO at this point, as the user is no longer interacting with our
-	 * application.
-	 * @author ricky barrette
-	 */
-	@Override
-	protected void onPause() {
-		try {
-			mIOIOManager.abort();
-		} catch (InterruptedException e) {
-			e.printStackTrace();
-		}
-		
-		if(mLoggerThread != null)
-			mLoggerThread.abort();
-		
-		if(mWakeLock.isHeld())
-			mWakeLock.release();
-		super.onPause();
-	}
-
-	/**
-	 * (non-Javadoc)
-	 * @see android.support.v4.app.FragmentActivity#onResume()
-	 */
-	@Override
-	protected void onResume() {
-		super.onResume();
-		mMap = (MapFragment) this.getSupportFragmentManager().findFragmentById(R.id.map_fragment);
-		mMap.setCompassListener(this);
-		mMap.setGeoPointLocationListener(this);
-		mMap.setLocationSelectedListener(this);
-		mMap.setRadius((int) (Debug.RADIUS * 1E3));
-		mIOIOManager = new IOIOTruckManager(this, this);
-		mIOIOManager.start();
-		
-		PowerManager pm = (PowerManager) this.getSystemService(Context.POWER_SERVICE);
-		mWakeLock = pm.newWakeLock(PowerManager.SCREEN_DIM_WAKE_LOCK | PowerManager.ON_AFTER_RELEASE, TAG);
-		mWakeLock.acquire();
-	}
-	
 	/**
 	 * updates the log with the provided string res
 	 * thread safe
@@ -380,6 +528,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		runOnUiThread(new Runnable() {
 			@Override
 			public void run() {
+				
 				mLog.append("\n"+log);
 				
 				/*
@@ -403,29 +552,10 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 	 * @author ricky barrette
 	 */
 	private int updateProgress(GeoPoint point) {
-		int distance = (int) (GeoUtils.distanceKm(point, mPoint) * 1000);
+		int distance = (int) (GeoUtils.distanceKm(point, mMap.getDestination()) * 1000);
-		if (distance > mMaxDistance) {
+		if (distance > mProgress.getMax())
-			mMaxDistance = distance;
 			mProgress.setMax(distance);
-		}		
 		mProgress.setProgress(distance);
 		return distance;
 	}
-
+}
-	/**
-	 * Called when the IOIOTruckThread has a log it wants to display
-	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
-	 */
-	@Override
-	public void onLogUpdate(String log) {
-		updateLog(log);
-	}
-
-	@Override
-	public void onFirstFix(boolean isFirstFix) {
-		// TODO Auto-generated method stub
-		
-	}
-	
-}

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TestActivity.java

@@ -32,7 +32,7 @@ import android.widget.TextView;
 
 import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
 import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
-import com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener;
+import com.TwentyCodes.android.IOIOTruck.IOIOTruckConnectionManager.IOIOTruckThreadListener;
 import com.TwentyCodes.android.exception.ExceptionHandler;
 
 /**
@@ -50,7 +50,17 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 	private TextView mDriveTextView;
 	private TextView mSteerTextView;
 	private TextView mShifterTextView;
-	private IOIOTruckManager mIOIOManager;
+	private IOIOTruckConnectionManager mIOIOManager;
+
+	/**
+	 * Called when the led swich is toggled
+	 * (non-Javadoc)
+	 * @see android.widget.CompoundButton.OnCheckedChangeListener#onCheckedChanged(android.widget.CompoundButton, boolean)
+	 */
+	@Override
+	public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+			mIOIOManager.setStatLedEnabled(isChecked);
+	}
 
 	/**
 	 * Called when the activity is first created
@@ -82,34 +92,28 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 		mDriveTextView.setText(getString(R.string.drive)+1500);
 		mSteerTextView.setText(getString(R.string.steer)+1500);
 		mShifterTextView.setText(getString(R.string.shifter)+1500);
+		mIOIOManager = new IOIOTruckConnectionManager(this, this);
+		mIOIOManager.getIOIOAndroidApplicationHelper().create();
 	}
 
 	/**
-	 * Called when the application is resumed (also when first started). Here is
+	 * (non-Javadoc)
-	 * where we'll create our IOIO thread.
+	 * @see android.app.Activity#onDestroy()
-	 * @author ricky barrette
 	 */
 	@Override
-	protected void onResume() {
+	protected void onDestroy() {
-		super.onResume();
+		mIOIOManager.getIOIOAndroidApplicationHelper().destroy();
-		mIOIOManager = new IOIOTruckManager(this, this);
+		super.onDestroy();
-		mIOIOManager.start();
 	}
 
 	/**
-	 * Called when the application is paused. We want to disconnect with the
+	 * Called when the IOIOTruckThread has a log to publish
-	 * IOIO at this point, as the user is no longer interacting with our
+	 * (non-Javadoc)
-	 * application.
+	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckConnectionManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
-	 * @author ricky barrette
 	 */
 	@Override
-	protected void onPause() {
+	public void onLogUpdate(String log) {
-		super.onPause();
+		mStatusTextView.setText(log);
-		try {
-			mIOIOManager.abort();
-		} catch (InterruptedException e) {
-			e.printStackTrace();
-		}
 	}
 
 	/**
@@ -127,6 +131,19 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 		mSteerTextView.setText(getString(R.string.steer)+mIOIOManager.getSteerValue());//steer);
 	}
 
+	/**
+	 * Called when the shifter seekbar is adjusted
+	 * (non-Javadoc)
+	 * @see android.widget.SeekBar.OnSeekBarChangeListener#onProgressChanged(android.widget.SeekBar, int, boolean)
+	 */
+	@Override
+	public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+		float shifter = progress + 1000;
+		mIOIOManager.setShifterValue(progress + 1000);
+		
+		mShifterTextView.setText(getString(R.string.shifter)+ shifter);
+	}
+
 	/**
 	 * Called when the joystick is released
 	 * (non-Javadoc)
@@ -137,6 +154,16 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 		//NOT USED
 	}
 
+	/**
+	 * (non-Javadoc)
+	 * @see android.app.Activity#onRestart()
+	 */
+	@Override
+	protected void onRestart() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().restart();
+		super.onRestart();
+	}
+
 	/**
 	 * Called when the joystick ir returned to center
 	 * (non-Javadoc)
@@ -150,16 +177,13 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 	}
 
 	/**
-	 * Called when the shifter seekbar is adjusted
 	 * (non-Javadoc)
-	 * @see android.widget.SeekBar.OnSeekBarChangeListener#onProgressChanged(android.widget.SeekBar, int, boolean)
+	 * @see android.app.Activity#onStart()
 	 */
 	@Override
-	public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+	protected void onStart() {
-		float shifter = progress + 1000;
+		mIOIOManager.getIOIOAndroidApplicationHelper().start();
-		mIOIOManager.setShifterValue(progress + 1000);
+		super.onStart();
-		
-		mShifterTextView.setText(getString(R.string.shifter)+ shifter);
 	}
 
 	@Override
@@ -167,28 +191,18 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 		//NOT USED
 	}
 
+	/**
+	 * (non-Javadoc)
+	 * @see android.app.Activity#onStop()
+	 */
+	@Override
+	protected void onStop() {
+		mIOIOManager.getIOIOAndroidApplicationHelper().stop();
+		super.onStop();
+	}
+
 	@Override
 	public void onStopTrackingTouch(SeekBar seekBar) {
 		//NOT USED
 	}
-
-	/**
-	 * Called when the led swich is toggled
-	 * (non-Javadoc)
-	 * @see android.widget.CompoundButton.OnCheckedChangeListener#onCheckedChanged(android.widget.CompoundButton, boolean)
-	 */
-	@Override
-	public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
-			mIOIOManager.setStatLedEnabled(isChecked);
-	}
-
-	/**
-	 * Called when the IOIOTruckThread has a log to publish
-	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
-	 */
-	@Override
-	public void onLogUpdate(String log) {
-		mStatusTextView.setText(log);
-	}
 }